PHILIPPINE STATE COLLEGE OF AERONAUTICS

INSTITUTE OF ENGINEERING AND TECHNOLOGY

AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

LEARNING
MODULE 6:
Equivalent Force
Systems in 2D and
3D

STATICS OF RIGID BODIES

Prepared by:
ENGR. AUGUSTINE E. BUENAVENTURA

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

TABLE OF CONTENTS
Time
Title Page
allotment
CONDITIONS FOR RIGID BODY EQUILIBRIUM 5 25 mins
2D SUPPORT REACTIONS 5 30 mins
EQUILIBRIUM OF 2D 11 60 mins
LEARNING ACTIVITY #1 19 90 mins
EQUILIBRIUM OF 3D 20 30 mins
3D SUPPORT REACTIONS 20 90 mins
LEARNING ACTIVITY #2 26 90 mins
TECHNICAL REPORT 6 27 90 mins
Formative Assessment: Online quiz on the topics of Equivalent 120 mins
n/a
forces in 2D and 3D;

Video Links
Title Video Link
Equilibrium of Rigid Body https://www.youtube.com/watch?v=t__4cY0T0Co&list=PLGu
eTK9Crnm_G3ei68xCcifu-LlVZhILU
Free Body Diagram of a https://www.youtube.com/watch?v=YbOZEHZYuP0&list=PLG
Rigid Body ueTK9Crnm_G3ei68xCcifu-LlVZhILU&index=2
Support Reactions (2d) https://www.youtube.com/watch?v=rg6XX4I_m-
A&list=PLGueTK9Crnm_G3ei68xCcifu-LlVZhILU&index=3
Solving Equilibrium https://www.youtube.com/watch?v=SLgsdeySMbY&list=PLG
Problems (2d) ueTK9Crnm-Z8gxigzuuq9BIBthim78J
Example Solving https://www.youtube.com/watch?v=w1v0GdA919s&list=PLGu
Equilibrium Problems (2d) eTK9Crnm-Z8gxigzuuq9BIBthim78J&index=2
3D Static Equilibrium https://www.youtube.com/watch?v=QK9kXd06218&list=PLGu
eTK9Crnm-2zaFByHRuy4jBCAB33pXK
Solving 3D Equilibrium https://www.youtube.com/watch?v=pDP8abjfQ4A&list=PLGu
Problems eTK9Crnm-2zaFByHRuy4jBCAB33pXK&index=2
Example: Equilibrium of a https://www.youtube.com/watch?v=nz1837GqcY4&list=PLGu
3D Rigid Body eTK9Crnm-2zaFByHRuy4jBCAB33pXK&index=3

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

TABLE OF REFERENCES
References No.
Hibbler. (2016). Engineering Mechanics, Statics. New Jersey: Pearson
1
Prentice Hall
Beer, Johnson, Maruzel, & Cornwell. (2010). Vector Mechanics for
2
Engineers: Statics. New York: McGraw-Hill.

List of Figures
Figures Reference
2 – 6,12 – Hibbler. (2016). Engineering Mechanics, Statics. New Jersey:
14 Pearson Prentice Hall
1,7 - 11 Beer, Johnson, Maruzel, & Cornwell. (2010). Vector Mechanics for
Engineers: Statics. New York: McGraw-Hill.

List of Examples
Example Reference
1 – 5, 9-12 Hibbler. (2016). Engineering Mechanics, Statics. New Jersey:
Pearson Prentice Hall
6-8 Beer, Johnson, Maruzel, & Cornwell. (2010). Vector Mechanics for
Engineers: Statics. New York: McGraw-Hill.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

This module details the conditions in achieving equilibrium of a rigid body, and
demonstrate how to solve equilibrium of rigid bodies in two and three dimensions.
LEARNING OUTCOMES

Course Learning Outcomes [CLO]

CLO 4. Determine forces of 2D and 3D

structures; Module Learning Outcomes [MLO]
CLO 11. Accomplish tasks analysis of
problem at data. Topic Learning Outcomes [TLO]
CLO 12. Produce a systematic and MLO 1. Apply the concepts of vector
accurate solution for every problem so force and moment when solving
that it can be solve in a limited amount equilibrium of rigid bodies TLO 1. Solve rigid-body equilibrium
of time. MLO 2. Construct a free body diagram using the equations of equilibrium and
CLO 13. Demonstrate critical analysis in including all external and reaction forces introducing the concept of the free-body
the solution of a problem and and moments diagram for a rigid body.
application to engineering. MLO 3. Solve equilibrium of rigid bodies
for unknown forces and moments in
two-dimension and three-dimension.

HONESTY CLAUSE

As individuals of the academic community, students are expected to understand and

uphold requirements of intellectual and educational integrity. The college assumes
as a simple and minimal standard of conduct in academic matters, that students be
truthful and that they submit credit of their personal efforts.

̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅̅
𝑆𝑖𝑔𝑛𝑎𝑡𝑢𝑟𝑒 𝑜𝑣𝑒𝑟 𝑃𝑟𝑖𝑛𝑡𝑒𝑑 𝑁𝑎𝑚𝑒

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

Conditions for Rigid-Body Equilibrium

If both the force and the couple are equal to zero, the external forces form a
structure equivalent to zero and the rigid body is said to be in equilibrium.
A body's equilibrium is expressed as

𝐹𝑅 = ΣF = 0
(𝑀𝑅 )𝑂 = ΣMO = 0
• The first of these equations states that the sum of the forces that act on the
body is zero.
• The second equation states that the sum of the moments of all the forces in
the point O system is equal to zero, added to all the moments.
By resolving each force and each moment in its rectangular components, we can
express the necessary and adequate conditions for a rigid body's equilibrium with the
following six scalar equations

When applying the equilibrium equations, we presume the body stays rigid

Free-Body Diagrams
Drawing a free-body diagram is the easiest way to account for certain forces. In this
diagram, all the forces and moments that the environment exerts on the body must
be shown so that these effects can be accounted for when the equations of
equilibrium are applied.

Support Reactions.
Before providing a systematic procedure for drawing a free body diagram, we will
first consider the different types of reactions that occur at supports and contact
points between coplanar force systems. As a general rule,
 The support prevents a body from being translated in a given direction by
exerting force on the body in the opposite direction.
 The support prevents a body from moving in a given direction by exerting a
few moments on the body in the opposite direction.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

The reactions to a two-dimensional structure can be divided into three groups

corresponding to three support types or connections.:

1. Reactions Equivalent to a Force with Known Line of Action.

Supports and connections that cause reactions of this kind include rollers,
rockers, frictionless surfaces, short links and cables, frictionless rod collars,
and frictionless pins.

Any of these supports and links can only stop movement in one direction.
Each of these reactions includes one unknown, namely the magnitude of the
reaction; the nature of the reaction for cases of a frictionless surface (toward
the free body) or a cable (toward the free body).

2. Reactions Equivalent to a Force of Unknown Direction and Magnitude.

Supports and connections causing reactions of this kind include frictionless

pins in fitted holes, hinges, and rough surfaces.

They can prevent the free body from being translated in all directions but they
cannot prevent the body from rotating about the relation. This group's
reactions include two unknowns, which are generally represented by
components of x and y. In the case of a rough surface, the normal part must
be separated from the surface.

3. Reactions Equivalent to a Force and a Couple

These reactions are triggered by fixed supports, which oppose any movement
of the free body and thus fully limit it.

In fact, fixed supports generate forces over the entire contact surface;
however, these forces form a system that can be reduced to a force and a
pair. This group's reactions contain three unknowns, which typically consist of
the two components of force and the couple moment.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

Figure 1: Reactions at supports and Connections

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D
EXAMPLE 1:

Draw the free body diagram of the uniform beam shown in Fig. 2a. The beam has a
mass of 100 kg

Figure 2b

Figure 2

Figure 2b

EXAMPLE 2
Draw the free-body diagram of the foot lever shown in Fig. 3a. The operator applies
a vertical force to the pedal so that the spring is stretched 1.5 in. and the force on the

Figure 3

link at 𝐵 us 20 𝑙𝑏.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

EXAMPLE 3
Two smooth pipes, each having a mass of 300 kg, are supported by the forked tines
of the tractor in Fig. 4a. Draw the free body diagrams of each pipe and both pipes
together

Figure 4

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

EXAMPLE 4
Draw the free-body diagram of the unloaded platform that is suspended off the edge
of the oil rig shown in Fig. a. The platform has a mass of 200 kg.

Figure 5

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

EQUILIBRIUM OF A RIGID BODY IN TWO DIMENSIONS

Since ΣMO=0 must be fulfilled regardless of the choice of origin O, we may write
equations of equilibrium in a
more general form for a two-
dimensional structure

Where A is any point in the structural plane. The three equations obtained on no
more than three unknowns can be solved.

Alternative Sets of Equilibrium Equations.

Where the second point at which the moments are summed (in this case, point B)
cannot be placed on a line parallel to the y axis passing through point A, these
equations are adequate conditions for truss equilibrium.

Where points A, B, and C are not straight lines. The first equation requires that the
external forces at A be reduced to one force; the second equation requires that this
force pass through B; and the third equation needs it to pass through C

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D
EXAMPLE 5
Determine the horizontal and vertical components of reaction on the beam caused
by the pin at B and the rocker at A as shown in Fig. 6a. Neglect the weight of the

Figure 6a

beam.

SOLUTION

Free-Body Diagram
The supports are removed, and
the free-body diagram of the
beam is shown in Fig. 6b. For
simplicity, the 600-N force is
represented by its x and y
components as shown in Fig.
2b.

Figure 6b

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

EXAMPLE 6
A fixed crane has a mass of 1000 kg and is
used to lift a 2400-kg crate. It is held in place
by a pin at A and a rocker at B. The center of
gravity of the crane is located at G.
Determine the components of the reactions at
A and B.

SOLUTION
Figure 7a

Free-Body Diagram.
A free-body diagram of the crane is drawn. By
multiplying the masses of the crane and of the
crate by 𝑔 = 9.81 𝑚/𝑠 2, we obtain the
corresponding weights, that is, 9810 N or 9.81
kN, and 23 500 N or 23.5 kN.

Determination of B. Figure 7b

We express that the sum of the moments of all external forces about point A is zero.
The equation obtained will contain neither Ax nor Ay, since the moments of Ax and
Ay about A are zero. Multiplying the magnitude of each force by its perpendicular
distance from A, we write

Determination of Ax.
The magnitude of Ax is determined by expressing that the sum of the horizontal
components of all external forces is zero

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

SLON Cont

Determination of Ay.
The sum of the vertical components must also equal zero

Figure 7c

EXAMPLE 7

A loading car is at rest on a track forming an

angle of 25° with the vertical. The gross weight
of the car and its load is 5500 lb, and it is
applied at a point 30 in. from the track, halfway
between the two axles. The car is held by a
cable attached 24 in. from the track. Determine
the tension in the cable and the reaction at
each pair of wheels.

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Figure 8
PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

SOLUTION

Free-Body Diagram.
A free-body diagram of the car is drawn. The reaction
at each wheel is perpendicular to the track, and the
tension force T is parallel to the track. For
convenience, we choose the x axis parallel to the track
and the y axis perpendicular to the track. The 5500-lb
wei
ght
is
the
n
resolved into x and y components

Figure 8b
Equilibrium Equations.
We take
moment
s about
A to
eliminat
e T and
R1 from
the
computa
tion.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

Figure 8c

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D
EXAMPLE 8

The frame shown supports part of the roof

of a small building. Knowing that the
tension in the cable is 150 kN, determine
the reaction at the fixed end E.

SOLUTION
Figure 9a

Free-Body Diagram.
A free-body diagram of the frame and of the cable BDF is drawn. The reaction at the
fixed end E is represented by the force components Ex and Ey and the couple ME
The other forces acting on the free body are the four 20-kN loads and the 150-kN
force exerted at end F of the cable.

Figure 9b

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D
EXAMPLE 9

Determine the horizontal and vertical

components of reaction on the member at
the pin A, and the normal reaction at the
roller B

SOLUTION
Free-Body Diagram
Figure 10a

All the supports are removed and so the

free- body diagram is shown. The pin at A
exerts two components of reaction on the
member, Ax and Ay

Figure 10b

Figure 10c

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

LEARNING ACTIVITY #1
Solve the following problem systematically and box the final answer with its
appropriate units. Write the question and the complete solution on the prescribed
format. Submit your scanned work on the provided link on Google Classroom.
1. Determine the horizontal and vertical components of reaction at the supports.
Neglect the thickness of the beam.

2. Determine the horizontal and vertical

components of reaction at the pin A and
the reaction on the beam at C

3. The truss is supported by a pin at A

and a roller at B. Determine the
support reactions.

4. Determine the reactions at the

smooth contact points A, B, and C
on the bar

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

EQUILIBRIUM IN THREE DIMENSIONS

In the general three-dimensional case, the six scalar equations are required to express the

conditions for the balance of a rigid body:

These equations can be solved for no more than six unknowns, which will usually respond to
supports or connections.
In most problems the scalar equations can be obtained more conveniently if we first express

the conditions for the equilibrium of the assumed rigid body in vector form. We 're writing
In terms of scalar components and unit vectors, and describe the forces F and position
vectors r. Next, we calculate all vector products by direct calculation or by determinants

Support Reactions.
As the members are presented in three dimensions, the reactive forces and couple moments
acting at different types of supports and relations. It is necessary to identify the symbols
used to represent each of these supports and to clearly understand how the forces and the
moments grow. As in the two-dimensional case:

 A force is developed through support which limits the translation of its

attached member.
 A couple moments occurs when the attached member is stopped from
rotating.

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INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

Figure 11 Reactions at supports and connections

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

EXAMPLE 10
The homogeneous plate shown in has a mass
of 100 kg and is subjected to a force and
couple moment along its edges. If it is
supported in the horizontal plane by a roller at
A, a ball-and-socket joint at B, and a cord at
C, determine the components of reaction at
these supports.

SOLUTION (SCALAR ANALYSIS)

Free-Body Diagram. Figure 12a
There are five unknown reactions acting on
the plate, as shown. Each of these reactions is
assumed to act in a positive coordinate direction.

Figure 12b

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

EXAMPLE 11
The boom is used to support the 75-lb flowerpot.
Determine the tension developed in wires AB and AC.

SOLUTION (VECTOR ANALYSIS)

Figure 13a

Free-Body Diagram.

EXAMPLE 12
Rod AB shown in Fig. a is subjected to the 200-N
force. Determine the reactions at the ball-and-socket
joint A and the tension in the cables BD and BE. The
collar at C is fixed to the rod.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

SOLUTION (VECTOR ANALYSIS)

Figure 14a

LEARNING ACTIVITY
#2
Solve the following problem systematically and box the final answer with its
appropriate units. Write the question and the complete solution on the prescribed
format. Submit your scanned work on the provided link on Google Classroom.
1. The uniform plate has a weight of 500 lb. Determine the tension in each of the
supporting cables.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D

2. Determine the force developed in the short link BD, and the tension in the
cords CE and CF, and the reactions of the ball-and-socket joint A on the
block.

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PHILIPPINE STATE COLLEGE OF AERONAUTICS
INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D
TECHNICAL REPORT 6: Equivalent Force Systems in 2D and 3D
Solve the following problem systematically and box the final answer with its
appropriate units. Write the question and the complete solution on the prescribed
format. Submit your scanned work on the provided link on Google Classroom.

1. A hand truck is used to move two kegs, each of mass 40 kg. Neglecting the
mass of the hand truck, determine (a) the vertical force P that should be
applied to the handle to maintain equilibrium when 𝛼 = 35°, (b) the
corresponding reaction at each of the two wheels.

2. The bracket BCD is hinged at C and attached to a control cable at B. For the
loading shown, determine (a) the tension in the cable, (b) the reaction at C.

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INSTITUTE OF ENGINEERING AND TECHNOLOGY
AERONAUTICAL ENGINEERING DEPARTMENT
Learning Module 6: Equivalent Force Systems in 2D and 3D
3. For the frame and loading shown, determine the reactions at A and C.

4. The 45-lb square plate shown is supported by three vertical wires. Determine
the tension in each wire.

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